Control method and device of base station of robot sweeper

Abstract

The application discloses a control method and device of a base station of a sweeping robot, and relates to the technical field of smart home / smart home, and the method comprises the following steps: receiving map information and cleaning state information of the sweeping robot; the map information comprises cleaning environment information, and the cleaning state information comprises a historical cleaning track and a mop dirtiness degree; predicting a future cleaning track according to the historical cleaning track and the cleaning environment information; determining a first position where the sweeping robot will be located in the future when the mop dirtiness degree of the sweeping robot reaches a preset threshold according to the historical cleaning track, the future cleaning track and the mop dirtiness degree; determining a second position where the base station will stop according to the first position, and driving the base station to move from a current position to the second position. The application realizes that the base station automatically analyzes a first position where the sweeping robot needs to be cleaned, and moves to a second position determined according to the first position, so that the mop can be cleaned in time, and the sweeping and mopping efficiency of the sweeping robot is improved.

Description

Technical Field

[0001] This application relates to the field of smart home / intelligent home technology, and in particular to a control method and device for a base station of a robotic vacuum cleaner. Background Technology

[0002] Self-cleaning robotic vacuum cleaners with built-in base stations are gradually becoming the mainstream application. These base stations are equipped with clean water and wastewater tanks, allowing for automatic cleaning and drying of the mop within the station itself. Compared to ordinary robotic vacuum cleaners that use a single mop to clean the entire house, these offer significantly stronger cleaning capabilities. The mop is also rewashed during the cleaning process, ensuring it remains clean and allowing for the cleaning of a larger total area.

[0003] However, the existing base stations are not movable. When the mop needs to be cleaned, the robot vacuum cleaner needs to move to the location of the base station to clean the mop before continuing the cleaning process, which undoubtedly reduces the cleaning and mopping efficiency of the robot vacuum cleaner. Summary of the Invention

[0004] This application provides a control method and device for a base station of a robotic vacuum cleaner, which solves the problem that in the prior art, the base station is immovable, and the robotic vacuum cleaner needs to move to the location of the base station to clean the mop before continuing the cleaning process, which reduces the sweeping and mopping efficiency of the robotic vacuum cleaner. The method enables the base station to automatically analyze and determine the first position where the robotic vacuum cleaner needs to clean the mop, and move to the second position determined based on the first position to stop, so that the robotic vacuum cleaner can clean the mop in time for the next time, which greatly improves the sweeping and mopping efficiency of the robotic vacuum cleaner.

[0005] This application provides a control method for a base station of a robotic vacuum cleaner, comprising: receiving map information and cleaning status information sent by the robotic vacuum cleaner; wherein the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectory and mop dirt level; predicting future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information; determining a first position of the robotic vacuum cleaner when the mop dirt level reaches a preset threshold based on the historical cleaning trajectory, the future cleaning trajectory, and the mop dirt level; determining a second position where the base station will dock based on the first position, and driving the base station to move from the current position to the second position.

[0006] According to the control method of the base station of a sweeping robot provided in this application, the cleaning environment information includes historical cleaning environment information and future cleaning environment information; the step of predicting the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information includes: determining the cleaning characteristics under environmental constraints based on the historical cleaning trajectory and the historical cleaning environment information; and predicting the future cleaning trajectory based on the cleaning characteristics under environmental constraints and the future cleaning environment information.

[0007] According to the control method of the base station of a sweeping robot provided in this application, the step of determining the first position of the sweeping robot when the degree of dirtiness of the mop reaches a preset threshold based on the historical sweeping trajectory, the future sweeping trajectory, and the degree of dirtiness of the mop includes: obtaining the historical sweeping volume based on the historical sweeping trajectory; calculating the difference between the preset threshold and the degree of dirtiness of the mop to obtain a proposed increase in the degree of dirtiness of the mop; calculating the ratio of the proposed increase in the degree of dirtiness of the mop to the current value of the degree of dirtiness of the mop to obtain a mop dirtiness ratio; obtaining the future sweeping volume based on the historical sweeping volume and the mop dirtiness ratio; and determining the first position of the sweeping robot in the future based on the future sweeping volume and the future sweeping trajectory.

[0008] According to the control method of the base station of a sweeping robot provided in this application, the historical cleaning volume includes the historical cleaning area, and the future cleaning volume includes the future cleaning area; or, the historical cleaning volume includes the historical cleaning time, and the future cleaning volume includes the future cleaning time.

[0009] According to the control method of the base station of a sweeping robot provided in this application, the method further includes: sending the second position to the sweeping robot so that the sweeping robot can move to the second position after reaching the first position.

[0010] According to the control method of the base station of a robotic vacuum cleaner provided in this application, the step of sending the second location to the robotic vacuum cleaner includes: sending the second location to the robotic vacuum cleaner via a WiFi module and an Internet of Things.

[0011] According to the control method of the base station of the sweeping robot provided in this application, the step of receiving map information and cleaning status information sent by the sweeping robot includes: receiving map information and cleaning status information sent by the sweeping robot through a WiFi module and the Internet of Things.

[0012] This application also provides a control device for a base station of a robotic vacuum cleaner, comprising: an information receiving module, configured to: receive map information and cleaning status information sent by the robotic vacuum cleaner; wherein the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectories and the degree of dirtiness of the mop; a trajectory prediction module, configured to: predict future cleaning trajectories based on the historical cleaning trajectories and the cleaning environment information; a position determination module, configured to: determine, based on the historical cleaning trajectories, the future cleaning trajectories, and the degree of dirtiness of the mop, the first position in which the robotic vacuum cleaner will be located when the degree of dirtiness of the mop reaches a preset threshold; and a movement control module, configured to: determine, based on the first position, the second position in which the base station will dock, and drive the base station to move from its current position to the second position.

[0013] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute, through the computer program, a control method for a base station of any of the above-described robotic vacuum cleaners.

[0014] This application also provides a computer-readable storage medium comprising a stored program, wherein the program, when executed, performs a control method for a base station of any of the sweeping robots described above.

[0015] This application also provides a computer program product, including a computer program that, when executed by a processor, implements a control method for the base station of any of the sweeping robots described above.

[0016] The control method and device for the base station of the robotic vacuum cleaner provided in this application receive map information and cleaning status information sent by the robotic vacuum cleaner. The map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectory and mop dirt level. Based on the historical cleaning trajectory and cleaning environment information, the future cleaning trajectory is predicted. Based on the historical cleaning trajectory, the future cleaning trajectory, and the mop dirt level, the first position of the robotic vacuum cleaner when the mop dirt level reaches a preset threshold is determined. Based on the first position, the second position where the base station will stop is determined, and the base station is driven to move from the current position to the second position. This realizes that the base station automatically analyzes and determines the first position where the robotic vacuum cleaner needs to perform mop self-cleaning, and moves to the second position where it will stop based on the first position, so that the robotic vacuum cleaner can perform the next mop cleaning in time, which greatly improves the sweeping and mopping efficiency of the robotic vacuum cleaner. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the hardware environment for a base station control method of a sweeping robot according to an embodiment of this application.

[0020] Figure 2 This is a flowchart illustrating the control method of the base station for the sweeping robot provided in this application embodiment;

[0021] Figure 3 This is a schematic diagram of the control device of the base station for the sweeping robot provided in this application embodiment;

[0022] Figure 4 This is a schematic diagram of the electronic device provided in this application. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] According to one aspect of the embodiments of this application, a control method for a base station of a robotic vacuum cleaner is provided. This control method for the base station of a robotic vacuum cleaner is widely used in whole-house intelligent digital control application scenarios such as smart homes, smart home ecosystems, and intelligence house ecosystems. Optionally, in this embodiment, the above-mentioned control method for the base station of the robotic vacuum cleaner can be applied to, for example... Figure 1 The hardware environment shown consists of terminal device 102 and server 104. For example... Figure 1 As shown, server 104 is connected to terminal device 102 via a network and can be used to provide services (such as application services) to the terminal or clients installed on the terminal. A database can be set up on the server or independently of the server to provide data storage services for server 104. Cloud computing and / or edge computing services can be configured on the server or independently of the server to provide data processing services for server 104.

[0026] The aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth. The terminal device 102 may not be limited to PC, mobile phone, tablet computer, smart air conditioner, smart range hood, smart refrigerator, smart oven, smart stove, smart washing machine, smart water heater, smart washing equipment, smart dishwasher, smart projector, smart TV, smart clothes rack, smart curtains, smart audio-visual equipment, smart socket, smart speaker, smart speaker box, smart fresh air equipment, smart kitchen and bathroom equipment, smart bathroom equipment, smart robot vacuum cleaner, smart window cleaning robot, smart mopping robot, smart air purifier, smart steam oven, smart microwave oven, smart water heater, smart air purifier, smart water dispenser, smart door lock, etc.

[0027] Figure 2 This is a flowchart illustrating the control method for the base station of the sweeping robot provided in an embodiment of this application. Figure 2 As shown, the method includes:

[0028] Step S1: Receive map information and cleaning status information sent by the robot vacuum cleaner; wherein, the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectory and mop dirt level.

[0029] The control method for the base station of the sweeping robot provided in this application embodiment can be applied to the base station in the sweeping robot system to control the movement of the base station.

[0030] The base station receives real-time map information and cleaning status information from the robotic vacuum cleaner. The map information includes cleaning environment information, which in turn includes obstacle information, such as the location of furniture and walls.

[0031] Cleaning status information includes historical cleaning tracks and the degree of dirt on the mop. Historical cleaning tracks refer to the cleaning path of the floor that has been cleaned at the time the cleaning status information is sent; specifically, it's the cleaning path after the last mop cleaning. Historical cleaning tracks can be displayed as cleaning paths that change over time, and the current location information of the robot vacuum can be obtained based on these tracks.

[0032] The cleaning status information also includes the length of the dirty mop on the robot vacuum, indicating its current operating status. The robot vacuum can acquire images of the mop through a vision sensor and analyze them through a computing module to determine the degree of dirtiness.

[0033] Step S2: Predict the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information.

[0034] The cleaning trajectory is constrained by the environment. By analyzing historical cleaning trajectories, the relationship between the cleaning trajectory and environmental constraints can be obtained, allowing for the prediction of future cleaning trajectories. The future cleaning trajectory is the estimated cleaning path the robot vacuum will take next. This next cleaning path will begin from the robot vacuum's current position.

[0035] Step S3: Based on the historical cleaning trajectory, the future cleaning trajectory, and the degree of dirt on the mop, determine the first position of the sweeping robot when the degree of dirt on the mop reaches a preset threshold.

[0036] The historical cleaning trajectory corresponds to the historical cleaning volume and the current level of mop soiling. The preset threshold for mop soiling level refers to the level of soiling required for self-cleaning of the mop. The system can calculate the future cleaning volume when the mop soiling level reaches the preset threshold from the current value, and calculate the robot's initial position based on the future cleaning volume and future cleaning trajectory.

[0037] Step S4: Determine the second location where the base station will dock based on the first location, and drive the base station to move from the current location to the second location.

[0038] Based on the first position where the robot vacuum cleaner's mop reaches a preset threshold level of cleaning, a second position is determined where the base station will dock. The second position can be, for example, a location less than a preset distance threshold from the first position with the fewest surrounding obstacles. The second position can coincide with the first position or be a location near the first position.

[0039] After obtaining the second location where the base station will dock, the base station's drive module is used to move the base station from its current location to the second location. The base station can quickly map the surrounding environment using radar sensors, including identifying obstacles in the environment, and identifying a movement path with the fewest obstacles. Based on this movement path, it moves from its current location to the second location.

[0040] The control method for the base station of the robotic vacuum cleaner provided in this application embodiment receives map information and cleaning status information sent by the robotic vacuum cleaner. The map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectory and mop dirt level. Based on the historical cleaning trajectory and cleaning environment information, the method predicts the future cleaning trajectory. Based on the historical cleaning trajectory, the future cleaning trajectory, and the mop dirt level, the method determines the first position of the robotic vacuum cleaner when the mop dirt level reaches a preset threshold. Based on the first position, the method determines the second position where the base station will stop and drives the base station to move from the current position to the second position. This enables the base station to automatically analyze and determine the first position where the robotic vacuum cleaner needs to perform mop self-cleaning, and move to the second position where it will stop based on the first position, so that the robotic vacuum cleaner can perform the next mop cleaning in a timely manner, which greatly improves the sweeping and mopping efficiency of the robotic vacuum cleaner.

[0041] According to an embodiment of this application, a control method for a base station of a sweeping robot is provided, wherein the cleaning environment information includes historical cleaning environment information and future cleaning environment information; the step of predicting the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information includes: determining the cleaning characteristics under environmental constraints based on the historical cleaning trajectory and the historical cleaning environment information; and predicting the future cleaning trajectory based on the cleaning characteristics under environmental constraints and the future cleaning environment information.

[0042] Cleaning environment information includes historical cleaning environment information and future cleaning environment information. Historical cleaning environment information refers to cleaning environment information associated with historical cleaning trajectories, while future cleaning environment information refers to cleaning environment information associated with future cleaning trajectories.

[0043] When predicting future cleaning trajectories based on historical cleaning trajectories and environmental information, cleaning characteristics under environmental constraints are determined. These characteristics include, for example, the constraint relationship between the cleaning trajectory and the environment, such as the cleaning trajectory being distributed along the edge of a wall or continuously distributed along the ground. These environmentally constrained cleaning characteristics, determined from historical cleaning trajectories and environmental information, are then applied to the constraints of future cleaning trajectories and future environmental conditions, thereby enabling the prediction of future cleaning trajectories based on these environmentally constrained characteristics and future environmental information.

[0044] The control method for the base station of the sweeping robot provided in this application determines the cleaning characteristics under environmental constraints based on historical cleaning trajectories and historical cleaning environment information, and predicts the future cleaning trajectory based on the cleaning characteristics under environmental constraints and future cleaning environment information, thereby improving the accuracy of future cleaning trajectory determination.

[0045] According to an embodiment of this application, a control method for a base station of a robotic vacuum cleaner includes determining the first future position of the robotic vacuum cleaner when the degree of dirtiness of the mop reaches a preset threshold based on the historical cleaning trajectory, the future cleaning trajectory, and the degree of dirtiness of the mop. The method comprises: obtaining historical cleaning volume based on the historical cleaning trajectory; calculating the difference between the preset threshold and the degree of dirtiness of the mop to obtain a proposed increase in the degree of dirtiness; calculating the ratio of the proposed increase in the degree of dirtiness to the current value of the degree of dirtiness of the mop to obtain a mop dirtiness ratio; obtaining the future cleaning volume based on the historical cleaning volume and the mop dirtiness ratio; and determining the first future position of the robotic vacuum cleaner based on the future cleaning volume and the future cleaning trajectory.

[0046] Cleaning volume can be expressed as cleaning area or cleaning time, and can be obtained from the cleaning trajectory. For example, the cleaning area can be calculated from the cleaning trajectory, and the cleaning time can be calculated from the cleaning area and the cleaning speed.

[0047] Based on historical cleaning trajectories, future cleaning trajectories, and the degree of dirt on the mop, the robot vacuum cleaner determines its future first position when the mop reaches a preset threshold of dirt. The historical cleaning volume is obtained based on the historical cleaning trajectory, which is the cleaning volume corresponding to the historical cleaning trajectory.

[0048] The proposed increase in mop dirt level is the increase in mop dirt level that will occur when the current mop dirt level is reached and the mop dirt level continues to be increased. This is calculated by subtracting the preset threshold from the current mop dirt level. The preset threshold is represented as a percentage, for example, 90%, and the mop dirt level is also represented as a percentage, for example, the current mop dirt level is 60%. Therefore, the difference between the preset threshold and the current mop dirt level is 90% - 60% = 30%, meaning the proposed increase in mop dirt level is 30%.

[0049] The mop dirtiness ratio is calculated by dividing the projected increase in mop dirtiness by the current level of dirtiness. Since mop dirtiness is positively correlated with cleaning volume, the mop dirtiness ratio also represents the ratio of future cleaning volume to historical cleaning volume. In the example above, the mop dirtiness ratio is 30% ÷ 60% = 50%. That is, the ratio of future cleaning volume to historical cleaning volume is 50%.

[0050] The future cleaning volume is calculated by comparing the historical cleaning volume with the mop's level of soiling. Specifically, the future cleaning volume is obtained by multiplying the historical cleaning volume by the mop's level of soiling. In the example above, if the historical cleaning volume represents a cleaning area of ​​80 square meters, then the future cleaning area will be 80 * 50% = 40 square meters. Of course, if the historical cleaning volume is expressed as cleaning time, the future cleaning time will also be calculated.

[0051] Since robotic vacuum cleaners operate along a cleaning path, their initial position can be determined based on the future cleaning volume and the future cleaning path. The initial position is the location within the future cleaning path where the future cleaning volume will be completed.

[0052] The control method for the base station of the sweeping robot provided in this application embodiment obtains the historical cleaning volume based on the historical cleaning trajectory, calculates the difference between the preset threshold and the degree of mop dirtiness to obtain the expected increase in the degree of mop dirtiness, calculates the ratio of the expected increase in the degree of mop dirtiness to the current value of the degree of mop dirtiness to obtain the mop dirtiness ratio, obtains the future cleaning volume based on the historical cleaning volume and the mop dirtiness ratio, and determines the first position of the sweeping robot in the future based on the future cleaning volume and the future cleaning trajectory, thereby improving the accuracy of determining the first position of the sweeping robot in the future.

[0053] According to an embodiment of this application, a control method for a base station of a sweeping robot is provided, wherein the historical cleaning volume includes the historical cleaning area and the future cleaning volume includes the future cleaning area; or, the historical cleaning volume includes the historical cleaning time and the future cleaning volume includes the future cleaning time.

[0054] When the cleaning volume is expressed in terms of cleaning area, the historical cleaning volume is expressed as the historical cleaning area, and the future cleaning volume is expressed as the future cleaning area; when the cleaning volume is expressed in terms of cleaning time, the historical cleaning volume is expressed as the historical cleaning time, and the future cleaning volume is expressed as the future cleaning time.

[0055] The control method for the base station of the sweeping robot provided in this application improves the processing flexibility by expressing the cleaning volume in terms of cleaning area or cleaning time.

[0056] According to an embodiment of this application, a control method for a base station of a sweeping robot is provided. The method further includes: sending a second location to the sweeping robot so that the sweeping robot can move to the second location after reaching the first location.

[0057] The second location is where the base station will dock, used for the robot vacuum's next self-cleaning task. The base station can publish the second location in the map information and send it to the robot vacuum, so that after reaching the first location, the robot vacuum can move to the second location to perform mopping.

[0058] The control method for the base station of the sweeping robot provided in this application sends a second position to the sweeping robot so that the sweeping robot can move to the second position after reaching the first position, thus ensuring the realization of the mop's self-cleaning function in the next step.

[0059] According to an embodiment of this application, a control method for a base station of a robotic vacuum cleaner is provided, wherein sending the second location to the robotic vacuum cleaner includes: sending the second location to the robotic vacuum cleaner via a WiFi module and an Internet of Things.

[0060] Base stations and robotic vacuum cleaners can share map information via WiFi and the home IoT. Base stations participate in the home IoT through WiFi modules, enabling map sharing based on the home IoT. Smart devices within the home share data, and both the robotic vacuum cleaner and the base station can retrieve data (such as map data) and send and receive information via WiFi modules.

[0061] The robotic vacuum cleaner obtains a map from the base station and identifies a suitable location for mopping, known as the second location. The robot then moves to this location. When the base station sends this second location to the robot, it can transmit map information containing the location via a home IoT network and send and receive information through a Wi-Fi module.

[0062] The control method for the base station of the sweeping robot provided in this application embodiment sends the second location to the sweeping robot through a WiFi module and the Internet of Things, realizing information transmission between the base station and the sweeping robot through the Internet of Things.

[0063] According to an embodiment of this application, a control method for a base station of a sweeping robot is provided, wherein receiving map information and cleaning status information sent by the sweeping robot includes: receiving map information and cleaning status information sent by the sweeping robot via a WiFi module and an Internet of Things.

[0064] When the base station receives map information and cleaning status information sent by the robot vacuum cleaner, it can receive the map information and cleaning status information sent by the robot vacuum cleaner through the home Internet of Things, and send and receive information through the WiFi module.

[0065] The base station acquires map information from the robotic vacuum cleaner, providing real-time information about the cleaning environment (including current obstacle information). Based on this map information and cleaning status data, the base station determines the docking location.

[0066] The control method for the base station of the sweeping robot provided in this application embodiment receives map information and cleaning status information sent by the sweeping robot through a WiFi module and the Internet of Things, realizing information transmission between the base station and the sweeping robot through the Internet of Things.

[0067] The control device for the base station of the sweeping robot provided in this application is described below. The control device for the base station of the sweeping robot described below can be referred to in correspondence with the control method for the base station of the sweeping robot described above.

[0068] Figure 3 This is a schematic diagram of the control device for the base station of the sweeping robot provided in this application embodiment. Figure 3 As shown, the device includes an information receiving module 10, a trajectory prediction module 20, a position determination module 30, and a movement control module 40. The information receiving module 10 receives map information and cleaning status information sent by the robotic vacuum cleaner. The map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectories and the degree of dirtiness of the mop. The trajectory prediction module 20 predicts future cleaning trajectories based on the historical cleaning trajectories and the cleaning environment information. The position determination module 30 determines, based on the historical cleaning trajectories, the future cleaning trajectories, and the degree of dirtiness of the mop, the first position the robotic vacuum cleaner will be in when the degree of dirtiness of the mop reaches a preset threshold. The movement control module 40 determines, based on the first position, the second position where the base station will dock, and drives the base station to move from its current position to the second position.

[0069] The control device for the base station of the robotic vacuum cleaner provided in this application receives map information and cleaning status information sent by the robotic vacuum cleaner. The map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectories and the degree of dirtiness of the mop. Based on the historical cleaning trajectory and cleaning environment information, the device predicts the future cleaning trajectory. Based on the historical cleaning trajectory, the future cleaning trajectory, and the degree of dirtiness of the mop, the device determines the first position of the robotic vacuum cleaner when the degree of dirtiness of the mop reaches a preset threshold. Based on the first position, the device determines the second position where the base station will stop and drives the base station to move from the current position to the second position. This enables the base station to automatically analyze and determine the first position where the robotic vacuum cleaner needs to perform mop self-cleaning, and move to the second position where it will stop based on the first position, so that the robotic vacuum cleaner can perform the next mop cleaning in a timely manner, which greatly improves the sweeping and mopping efficiency of the robotic vacuum cleaner.

[0070] According to an embodiment of this application, a control device for a base station of a sweeping robot is provided. The cleaning environment information includes historical cleaning environment information and future cleaning environment information. The trajectory prediction module 20, when used to predict the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information, is specifically used to: determine the cleaning characteristics under environmental constraints based on the historical cleaning trajectory and the historical cleaning environment information; and predict the future cleaning trajectory based on the cleaning characteristics under environmental constraints and the future cleaning environment information.

[0071] The control device of the base station of the sweeping robot provided in this application embodiment determines the cleaning characteristics under environmental constraints based on historical cleaning trajectories and historical cleaning environment information, and predicts the future cleaning trajectory based on the cleaning characteristics under environmental constraints and future cleaning environment information, thereby improving the accuracy of future cleaning trajectory determination.

[0072] According to an embodiment of this application, a control device for a base station of a sweeping robot includes a position determination module 30. Specifically, when determining the future first position of the sweeping robot when the mop's dirtiness reaches a preset threshold based on the historical cleaning trajectory, the future cleaning trajectory, and the degree of mop dirtiness, the module performs the following: obtaining historical cleaning volume based on the historical cleaning trajectory; calculating the difference between the preset threshold and the mop's dirtiness to obtain a proposed increase in mop dirtiness; calculating the ratio of the proposed increase in mop dirtiness to the current value of mop dirtiness to obtain a mop dirtiness ratio; obtaining the future cleaning volume based on the historical cleaning volume and the mop dirtiness ratio; and determining the future first position of the sweeping robot based on the future cleaning volume and the future cleaning trajectory.

[0073] The control device for the base station of the sweeping robot provided in this application embodiment obtains the historical cleaning volume based on the historical cleaning trajectory, calculates the difference between the preset threshold and the degree of mop dirtiness to obtain the expected increase in the degree of mop dirtiness, calculates the ratio of the expected increase in the degree of mop dirtiness to the current value of the degree of mop dirtiness to obtain the mop dirtiness ratio, obtains the future cleaning volume based on the historical cleaning volume and the mop dirtiness ratio, and determines the first position of the sweeping robot in the future based on the future cleaning volume and the future cleaning trajectory, thereby improving the accuracy of determining the first position of the sweeping robot in the future.

[0074] According to an embodiment of this application, a control device for a base station of a sweeping robot is provided, wherein the historical cleaning volume includes the historical cleaning area and the future cleaning volume includes the future cleaning area; or, the historical cleaning volume includes the historical cleaning time and the future cleaning volume includes the future cleaning time.

[0075] The control device for the base station of the sweeping robot provided in this application improves the processing flexibility by expressing the cleaning volume in terms of cleaning area or cleaning time.

[0076] According to an embodiment of this application, a control device for a base station of a sweeping robot is provided. The device further includes a communication module for: sending a second location to the sweeping robot so that the sweeping robot can move to the second location after reaching the first location.

[0077] The control device for the base station of the sweeping robot provided in this application sends a second position to the sweeping robot so that the sweeping robot can move to the second position after reaching the first position, thus ensuring the realization of the mop's self-cleaning function in the next step.

[0078] According to an embodiment of this application, a control device for a base station of a robotic vacuum cleaner is provided. When the communication module is used to send the second location to the robotic vacuum cleaner, it is specifically used to send the second location to the robotic vacuum cleaner via a WiFi module and an Internet of Things.

[0079] The control device for the base station of the sweeping robot provided in this application embodiment sends the second location to the sweeping robot through a WiFi module and the Internet of Things, realizing information transmission between the base station and the sweeping robot through the Internet of Things.

[0080] According to an embodiment of this application, a control device for a base station of a sweeping robot is provided. When the information receiving module 10 is used to receive map information and cleaning status information sent by the sweeping robot, it is specifically used to receive map information and cleaning status information sent by the sweeping robot through a WiFi module and an Internet of Things.

[0081] The control device for the base station of the sweeping robot provided in this application embodiment receives map information and cleaning status information sent by the sweeping robot through a WiFi module and the Internet of Things, thereby realizing information transmission between the base station and the sweeping robot through the Internet of Things.

[0082] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a control method for the base station of the sweeping robot. The method includes: receiving map information and cleaning status information sent by the sweeping robot; wherein the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectory and mop dirt level; predicting the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information; determining the first position of the sweeping robot when the mop dirt level reaches a preset threshold based on the historical cleaning trajectory, the future cleaning trajectory, and the mop dirt level; determining the second position where the base station will stop based on the first position, and driving the base station to move from the current position to the second position.

[0083] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method for the base station of the sweeping robot provided by the above methods. The method includes: receiving map information and cleaning status information sent by the sweeping robot; wherein the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectory and mop dirt level; predicting the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information; determining the first position of the sweeping robot when the mop dirt level of the sweeping robot reaches a preset threshold based on the historical cleaning trajectory, the future cleaning trajectory, and the mop dirt level; determining the second position where the base station will stop based on the first position, and driving the base station to move from the current position to the second position.

[0085] In another aspect, this application also provides a computer-readable storage medium, which includes a stored program, wherein the program, when running, executes the control method for the base station of the sweeping robot provided by the above methods. The method includes: receiving map information and cleaning status information sent by the sweeping robot; wherein the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectories and the degree of dirtiness of the mop; predicting future cleaning trajectories based on the historical cleaning trajectories and the cleaning environment information; determining, based on the historical cleaning trajectories, the future cleaning trajectories, and the degree of dirtiness of the mop, a first position where the sweeping robot will be located when the degree of dirtiness of the mop reaches a preset threshold; determining, based on the first position, a second position where the base station will dock, and driving the base station to move from its current position to the second position.

[0086] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0087] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a base station of a robotic vacuum cleaner, characterized in that, include: Receive map information and cleaning status information sent by the robot vacuum cleaner; wherein, the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectory and mop dirt level; Predict future cleaning trajectories based on the historical cleaning trajectories and the cleaning environment information; Based on the historical cleaning trajectory, the future cleaning trajectory, and the degree of dirtiness of the mop, determine the first position of the sweeping robot when the degree of dirtiness of the mop reaches a preset threshold. Based on the first position, determine the second position where the base station will dock, and drive the base station to move from the current position to the second position.

2. The control method for the base station of the sweeping robot according to claim 1, characterized in that, The cleaning environment information includes historical cleaning environment information and future cleaning environment information; the step of predicting the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information includes: Based on the historical cleaning trajectory and the historical cleaning environment information, determine the cleaning characteristics under environmental constraints; The future cleaning trajectory is predicted based on the cleaning characteristics under the aforementioned environmental constraints and the information about the future cleaning environment.

3. The control method for the base station of the sweeping robot according to claim 1, characterized in that, The step of determining the first position of the sweeping robot when the mop dirtiness reaches a preset threshold based on the historical cleaning trajectory, the future cleaning trajectory, and the degree of mop dirtiness includes: The historical cleaning volume is obtained based on the historical cleaning trajectory; Calculate the difference between the preset threshold and the degree of dirtiness of the mop to obtain the proposed increase in the degree of dirtiness of the mop; Calculate the ratio of the expected increase in the degree of dirtiness of the mop to the current degree of dirtiness of the mop to obtain the mop dirtiness ratio value; The future cleaning volume can be calculated based on the ratio of the historical cleaning volume to the degree of dirt on the mop. The future first position of the sweeping robot is determined based on the future cleaning volume and the future cleaning trajectory.

4. The control method for the base station of the sweeping robot according to claim 3, characterized in that, The historical cleaning volume includes the historical cleaning area, and the future cleaning volume includes the future cleaning area; Alternatively, the historical cleaning volume includes historical cleaning time, and the future cleaning volume includes future cleaning time.

5. The control method for the base station of the sweeping robot according to claim 1, characterized in that, The method further includes: The second location is sent to the robot vacuum cleaner so that the robot vacuum cleaner can move to the second location after reaching the first location.

6. The control method for the base station of the sweeping robot according to claim 5, characterized in that, Sending the second location to the robot vacuum cleaner includes: The second location is sent to the robotic vacuum cleaner via a WiFi module and the Internet of Things.

7. The control method for the base station of the sweeping robot according to claim 1, characterized in that, The receipt of map information and cleaning status information sent by the robotic vacuum cleaner includes: It receives map information and cleaning status information sent by the robot vacuum cleaner via WiFi module and IoT.

8. A control device for a base station of a robotic vacuum cleaner, characterized in that, include: The information receiving module is used to receive map information and cleaning status information sent by the robot vacuum cleaner; wherein, the map information includes cleaning environment information, and the cleaning status information includes historical cleaning trajectories and the degree of dirtiness of the mop; The trajectory prediction module is used to predict the future cleaning trajectory based on the historical cleaning trajectory and the cleaning environment information. The location determination module is used to: determine the first position of the sweeping robot when the degree of dirtiness of the mop of the sweeping robot reaches a preset threshold, based on the historical sweeping trajectory, the future sweeping trajectory and the degree of dirtiness of the mop; The mobility control module is configured to: determine the second location where the base station will dock based on the first location, and drive the base station to move from the current location to the second location.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 7 through the computer program.

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